园区滑索智能巡检机器人设计及作物冠层温度提取方法

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DOI：10.13733/j.jcam.issn.2095-5553.2025.07.026

关键词：智能巡检机器人；冠层温度；图像配准；红外热成像；农业生产园区中图分类号：S126；TP242.6 文献标识码：A 文章编号：2095-5553（2025）07-0181-10

Abstract：Toaddress thechallengesof effectiveandreal-time temperatureextractionofcropcanopyinagricultural orchards，this study focuseson kiwifruit and grape crops grown within theorchard topropose a novel intellient cable inspection robot and a canopy temperature extraction method based on the fusion of the CIELAB and HSV colorspaces，referred toas CIELAB—HSV.First，the intelligent inspection robot isequipped with data collection devices and travels along acableway toobtain environmentaldata and thermalinfraredandvisible light （TIR& V）images of the canopy. An automatic registration method，CAO—C2F is employed to align TIR 8. V images. The fusion of CIELABand HSV dual color spaces is used to extract canopy regions.Finally，the canopy region images’binary processing results are combined with the TIR temperature matrix to extract the canopy temperature.The experimental results show that the improved CIELAB—HSV method achieves the best extraction performance for canopy regions，with an average accuracy of 91.54% . Furthermore，the extracted canopy temperature，obtained through the combinedapplication of CAO一C2F and CIELAB—HSV，exhibits the highest correlation with ground-measured values，reaching a determination coefficient R2 of 0.952 5，surpassing the performance of CIELAB（ R2=0.928 9 ），HSV （R2=0，9047） ，and ExG—Otsu ⟨R2=0，8913⟩ .The combined CIELAB—HSV and CAO—C2F algorithms have an average processing time of 3.44s ，which enables the intelligent cable inspection robot toperform real-time canopy acquisition and dynamic monitoring of crop growth parameters in agricultural environments.

Keywords：inteligentcableinspection robots；canopy temperature；imageregistration；thermal infrared imaging; agricultural orchards

0 引言

冠层温度是表征作物生理生态过程及能量平衡的重要参数之一，准确探测作物冠层温度对综合衡量作物的生长状况、指导农业生产具有重要意义[1]。（剩余14955字）